A New Stability Framework for Trajectory Tracking Control of Biped Walking Robots: A Dissemination Version

This paper introduces a novel stability criterion for biped walking systems using the linear inverted pendulum model in which the dynamics between the center of mass (CoM) and the zero moment point (ZMP) is dealt with. The criterion is based on ensuring that the ZMP error, the difference between the reference and real ZMP, remains within a specified area to maintain walking stability. Considering this criterion, we examine the initial CoM conditions necessary for walking balance and define the stability regions based on these conditions. Toward a more practical significance, we address the impact of unknown disturbances on walking balance of biped walking systems. More importantly, the stability region is shown to be computable through a finite number of calculations, ensuring stability over an indefinite period. Finally, simulation results are provided to validate the proposed method.